Modeling and designing intelligent adaptive sliding mode controller for an Eight-Rotor MAV
Xiang-jian Chen/Di Li
International Journal of Aeronautical and Space Sicences, vol. 14, no. 2, pp.172-182, 2013
Abstract : This paper focuses on the modeling and intelligent control of the new Eight-Rotor MAV, which is used to solve the problem of
the low coefficient proportion between lift and gravity for the Quadrotor MAV. The Eight-Rotor MAV is a nonlinear plant, so
that it is difficult to obtain stable control, due to uncertainties. The purpose of this paper is to propose a robust, stable attitude
control strategy for the Eight-Rotor MAV, to accommodate system uncertainties, variations, and external disturbances. First, an
interval type-II fuzzy neural network is employed to approximate the nonlinearity function and uncertainty functions in the
dynamic model of the Eight-Rotor MAV. Then, the parameters of the interval type-II fuzzy neural network and gain of sliding
mode control can be tuned on-line by adaptive laws based on the Lyapunov synthesis approach, and the Lyapunov stability
theorem has been used to testify the asymptotic stability of the closed-loop system. The validity of the proposed control
method has been verified in the Eight-Rotor MAV through real-time experiments. The experimental results show that the
performance of the interval type-II fuzzy neural network based adaptive sliding mode controller could guarantee the Eight-
Rotor MAV control system good performances under uncertainties, variations, and external disturbances. This controller is
significantly improved, compared with the conventional adaptive sliding mode controller, and the type-I fuzzy neural network
based sliding mode controller.
Keyword : Interval type-II fuzzy neural network; sliding mode controller; Eight-Rotor MAV |